CN110637131B - 作业车辆的控制系统、方法以及作业车辆 - Google Patents
作业车辆的控制系统、方法以及作业车辆 Download PDFInfo
- Publication number
- CN110637131B CN110637131B CN201780090886.5A CN201780090886A CN110637131B CN 110637131 B CN110637131 B CN 110637131B CN 201780090886 A CN201780090886 A CN 201780090886A CN 110637131 B CN110637131 B CN 110637131B
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- controller
- work vehicle
- operator
- work
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- 238000000034 method Methods 0.000 title claims description 38
- 238000012876 topography Methods 0.000 claims description 99
- 238000013461 design Methods 0.000 claims description 83
- 238000006073 displacement reaction Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 4
- 238000009412 basement excavation Methods 0.000 description 47
- 230000008569 process Effects 0.000 description 22
- 238000010586 diagram Methods 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 15
- 239000002689 soil Substances 0.000 description 14
- 238000012545 processing Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
- 238000012937 correction Methods 0.000 description 5
- 238000005065 mining Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000014759 maintenance of location Effects 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 240000001973 Ficus microcarpa Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
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Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7609—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
- E02F3/847—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/030934 WO2019043788A1 (ja) | 2017-08-29 | 2017-08-29 | 作業車両の制御システム、方法、及び作業車両 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110637131A CN110637131A (zh) | 2019-12-31 |
CN110637131B true CN110637131B (zh) | 2021-10-12 |
Family
ID=65525089
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201780090886.5A Active CN110637131B (zh) | 2017-08-29 | 2017-08-29 | 作业车辆的控制系统、方法以及作业车辆 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11459733B2 (ja) |
JP (1) | JP6910450B2 (ja) |
CN (1) | CN110637131B (ja) |
AU (1) | AU2017429426B2 (ja) |
CA (1) | CA3063687A1 (ja) |
WO (1) | WO2019043788A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7049884B2 (ja) * | 2018-03-28 | 2022-04-07 | 株式会社小松製作所 | 作業車両の制御システム、方法、及び作業車両 |
JP7418948B2 (ja) * | 2018-03-28 | 2024-01-22 | 株式会社小松製作所 | 作業車両の制御システム、方法、及び作業車両 |
JP2020033788A (ja) * | 2018-08-31 | 2020-03-05 | 株式会社神戸製鋼所 | 作業機械のブレード制御装置 |
WO2020203596A1 (ja) * | 2019-04-04 | 2020-10-08 | 株式会社小松製作所 | 作業機械を含むシステム、コンピュータによって実行される方法、学習済みの姿勢推定モデルの製造方法、および学習用データ |
US20220334581A1 (en) * | 2021-04-14 | 2022-10-20 | Caterpillar Paving Products Inc. | Method and system for automated implement control |
CN113377102A (zh) * | 2021-04-29 | 2021-09-10 | 中联重科土方机械有限公司 | 用于挖掘机的控制方法、处理器、装置及挖掘机 |
US11976444B2 (en) * | 2021-12-03 | 2024-05-07 | Deere & Company | Work machine with grade control using external field of view system and method |
Citations (5)
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JPH1088612A (ja) * | 1996-09-13 | 1998-04-07 | Komatsu Ltd | ブルドーザのドージング装置 |
JPH10141955A (ja) * | 1996-10-23 | 1998-05-29 | Caterpillar Inc | 作業具の位置を求めるための装置及び方法 |
CN103874804A (zh) * | 2013-03-08 | 2014-06-18 | 株式会社小松制作所 | 推土机及推土铲控制方法 |
CN103906877A (zh) * | 2012-10-26 | 2014-07-02 | 株式会社小松制作所 | 推土铲控制装置、作业机械及推土铲控制方法 |
CN107002383A (zh) * | 2017-01-13 | 2017-08-01 | 株式会社小松制作所 | 作业机械的控制系统、作业机械及作业机械的控制方法 |
Family Cites Families (34)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS5149238A (en) | 1974-10-25 | 1976-04-28 | Yokohama Rubber Co Ltd | Gomusoseibutsu |
US4630685A (en) | 1983-11-18 | 1986-12-23 | Caterpillar Inc. | Apparatus for controlling an earthmoving implement |
ZA948824B (en) * | 1993-12-08 | 1995-07-11 | Caterpillar Inc | Method and apparatus for operating geography altering machinery relative to a work site |
US5404661A (en) * | 1994-05-10 | 1995-04-11 | Caterpillar Inc. | Method and apparatus for determining the location of a work implement |
US5854988A (en) * | 1996-06-05 | 1998-12-29 | Topcon Laser Systems, Inc. | Method for controlling an excavator |
WO2004027164A1 (ja) * | 2002-09-17 | 2004-04-01 | Hitachi Construction Machinery Co., Ltd. | 建設機械の掘削作業教示装置 |
US7113105B2 (en) * | 2003-08-28 | 2006-09-26 | Caterpillar Inc. | Work machine display system |
US7121355B2 (en) * | 2004-09-21 | 2006-10-17 | Cnh America Llc | Bulldozer autograding system |
US7970519B2 (en) * | 2006-09-27 | 2011-06-28 | Caterpillar Trimble Control Technologies Llc | Control for an earth moving system while performing turns |
BE1018564A4 (nl) * | 2009-01-12 | 2011-03-01 | Dredging Int | Werkwijze en inrichting voor het aansturen van een mobiele grondbehandelinrichting. |
US9605409B2 (en) * | 2009-03-31 | 2017-03-28 | Caterpillar Inc. | System and method for operating a machine |
US20110148856A1 (en) * | 2009-12-18 | 2011-06-23 | Caterpillar Inc. | Parameter Visualization System |
US8639393B2 (en) * | 2010-11-30 | 2014-01-28 | Caterpillar Inc. | System for automated excavation planning and control |
US9464410B2 (en) * | 2011-05-19 | 2016-10-11 | Deere & Company | Collaborative vehicle control using both human operator and automated controller input |
US8548690B2 (en) | 2011-09-30 | 2013-10-01 | Komatsu Ltd. | Blade control system and construction machine |
US20130158819A1 (en) * | 2011-12-20 | 2013-06-20 | Caterpillar Inc. | Implement control system for a machine |
US9043098B2 (en) * | 2012-10-05 | 2015-05-26 | Komatsu Ltd. | Display system of excavating machine and excavating machine |
US8948981B2 (en) * | 2012-12-20 | 2015-02-03 | Caterpillar Inc. | System and method for optimizing a cut location |
US9014924B2 (en) * | 2012-12-20 | 2015-04-21 | Caterpillar Inc. | System and method for estimating material characteristics |
US9228315B2 (en) * | 2012-12-20 | 2016-01-05 | Caterpillar Inc. | System and method for modifying a path for a machine |
JP5391345B1 (ja) | 2013-03-08 | 2014-01-15 | 株式会社小松製作所 | ブルドーザ及びブレード制御方法 |
US9014925B2 (en) * | 2013-03-15 | 2015-04-21 | Caterpillar Inc. | System and method for determining a ripping path |
US9506224B2 (en) * | 2014-08-06 | 2016-11-29 | Caterpillar Inc. | Grade control cleanup pass using splines |
US9388550B2 (en) * | 2014-09-12 | 2016-07-12 | Caterpillar Inc. | System and method for controlling the operation of a machine |
US9297147B1 (en) * | 2014-09-30 | 2016-03-29 | Caterpillar Inc. | Semi-autonomous tractor system crest ramp removal |
WO2015083469A1 (ja) * | 2014-10-30 | 2015-06-11 | 株式会社小松製作所 | ブレード制御装置、作業車両、及びブレード制御方法 |
US9328479B1 (en) * | 2015-02-05 | 2016-05-03 | Deere & Company | Grade control system and method for a work vehicle |
US9481977B1 (en) * | 2015-07-24 | 2016-11-01 | Caterpillar Inc. | System and method for controlling a machine |
CN106068354B (zh) * | 2016-03-29 | 2021-04-20 | 株式会社小松制作所 | 作业机械的控制装置、作业机械和作业机械的控制方法 |
US10036141B2 (en) * | 2016-04-08 | 2018-07-31 | Komatsu Ltd. | Control system for work vehicle, control method and work vehicle |
US10066367B1 (en) * | 2016-06-20 | 2018-09-04 | Robo Industries, Inc. | System for determining autonomous adjustments to an implement position and angle |
US9885169B2 (en) * | 2016-07-01 | 2018-02-06 | GK Technology, Inc. | Automated backslope cutting system |
JPWO2018062374A1 (ja) * | 2016-09-30 | 2019-07-25 | 住友建機株式会社 | ショベル |
US10407872B2 (en) * | 2017-08-15 | 2019-09-10 | Caterpillar Inc. | System and method for controlling earthmoving machines |
-
2017
- 2017-08-29 JP JP2019538788A patent/JP6910450B2/ja active Active
- 2017-08-29 CN CN201780090886.5A patent/CN110637131B/zh active Active
- 2017-08-29 CA CA3063687A patent/CA3063687A1/en not_active Withdrawn
- 2017-08-29 WO PCT/JP2017/030934 patent/WO2019043788A1/ja active Application Filing
- 2017-08-29 AU AU2017429426A patent/AU2017429426B2/en active Active
- 2017-08-29 US US16/613,302 patent/US11459733B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1088612A (ja) * | 1996-09-13 | 1998-04-07 | Komatsu Ltd | ブルドーザのドージング装置 |
JPH10141955A (ja) * | 1996-10-23 | 1998-05-29 | Caterpillar Inc | 作業具の位置を求めるための装置及び方法 |
CN103906877A (zh) * | 2012-10-26 | 2014-07-02 | 株式会社小松制作所 | 推土铲控制装置、作业机械及推土铲控制方法 |
CN103874804A (zh) * | 2013-03-08 | 2014-06-18 | 株式会社小松制作所 | 推土机及推土铲控制方法 |
CN107002383A (zh) * | 2017-01-13 | 2017-08-01 | 株式会社小松制作所 | 作业机械的控制系统、作业机械及作业机械的控制方法 |
Also Published As
Publication number | Publication date |
---|---|
US20210079629A1 (en) | 2021-03-18 |
JP6910450B2 (ja) | 2021-07-28 |
US11459733B2 (en) | 2022-10-04 |
AU2017429426A1 (en) | 2019-12-05 |
CA3063687A1 (en) | 2019-12-06 |
AU2017429426B2 (en) | 2021-04-29 |
CN110637131A (zh) | 2019-12-31 |
WO2019043788A1 (ja) | 2019-03-07 |
JPWO2019043788A1 (ja) | 2020-08-06 |
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